lms400_cola.h
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00029 #include "config.h"
00030
00031 #include <netdb.h>
00032 #include <sys/types.h>
00033 #include <vector>
00034 #include <netinet/in.h>
00035 #include <libplayerinterface/player.h>
00036 #include <iostream>
00037
00038 #define BUF_SIZE 1024
00039
00041 typedef struct
00042 {
00043 unsigned char* string;
00044 int length;
00045 } MeasurementQueueElement_t;
00046
00048 typedef struct
00049 {
00050 uint16_t Format;
00051 uint16_t DistanceScaling;
00052 int32_t StartingAngle;
00053 uint16_t AngularStepWidth;
00054 uint16_t NumberMeasuredValues;
00055 uint16_t ScanningFrequency;
00056 uint16_t RemissionScaling;
00057 uint16_t RemissionStartValue;
00058 uint16_t RemissionEndValue;
00059 } MeasurementHeader_t;
00060
00061
00063 class lms400_cola
00064 {
00065 public:
00066 lms400_cola (const char* host, int port, int debug_mode);
00067
00068
00069 int Connect ();
00070 int Disconnect ();
00071
00072
00073 int SetAngularResolution (const char* password, float ang_res, float angle_start, float angle_range);
00074 int SetScanningFrequency (const char* password, float freq, float angle_start, float angle_range);
00075 int SetResolutionAndFrequency (float freq, float ang_res, float angle_start, float angle_range);
00076
00077 int StartMeasurement (bool intensity = true);
00078 player_laser_data ReadMeasurement ();
00079 int StopMeasurement ();
00080
00081 int SetUserLevel (int8_t userlevel, const char* password);
00082 int GetMACAddress (char** macadress);
00083
00084 int SetIP (char* ip);
00085 int SetGateway (char* gw);
00086 int SetNetmask (char* mask);
00087 int SetPort (uint16_t port);
00088
00089 int ResetDevice ();
00090 int TerminateConfiguration ();
00091
00092 int SendCommand (const char* cmd);
00093 int ReadResult ();
00094
00095 int ReadAnswer ();
00096
00097 int ReadConfirmationAndAnswer ();
00098
00099 int EnableRIS (int onoff);
00100 player_laser_config GetConfiguration ();
00101 int SetMeanFilterParameters (int num_scans);
00102 int SetRangeFilterParameters (float *ranges);
00103 int EnableFilters (int filter_mask);
00104
00105
00106 unsigned char* ParseIP (char* ip);
00107
00108 private:
00109
00110 int assemblecommand (unsigned char* command, int len);
00111
00112 const char* hostname;
00113 int sockfd, portno, n;
00114 struct sockaddr_in serv_addr;
00115 #if HAVE_GETADDRINFO
00116 struct addrinfo *addr_ptr;
00117 #else
00118 struct hostent *server;
00119 #endif
00120
00121
00122 int verbose;
00123 int ExtendedRIS;
00124 int MeanFilterNumScans;
00125 float RangeFilterTopLimit;
00126 float RangeFilterBottomLimit;
00127 int FilterMask;
00128 player_laser_config Configuration;
00129
00130
00131 unsigned char buffer[4096];
00132 unsigned int bufferlength;
00133
00134
00135 unsigned char command[BUF_SIZE];
00136 int commandlength;
00137 std::vector<MeasurementQueueElement_t>* MeasurementQueue;
00138 };